gadget-roomba-nano33-ble/roomba/roomba.h

#ifndef ROOMBA_COMMANDS_H
#define ROOMBA_COMMANDS_H

/* "Roomba mode" States */
#define ROOMBA_MODE_OFF      0
#define ROOMBA_MODE_DRIVE    1
#define ROOMBA_MODE_FULL     2
#define ROOMBA_MODE_CLEAN    3
#define ROOMBA_MODE_SPOT     4
#define ROOMBA_MODE_DOCK     5

/* Roomba commands */
#define ROOMBA_START    0x80
#define ROOMBA_BAUD     0x81 // len = 1
#define ROOMBA_CTRL     0x82
#define ROOMBA_SAFE     0x83
#define ROOMBA_FULL     0x84
#define ROOMBA_POWER    0x85
#define ROOMBA_SPOT     0x86
#define ROOMBA_CLEAN    0x87
#define ROOMBA_MAX      0x88
#define ROOMBA_DRIVE    0x89 // len = 4
#define ROOMBA_MOTORS   0x8a // len = 1
#define ROOMBA_LEDS     0x8b // len = 3
#define ROOMBA_SONG     0x8c // len = ...
#define ROOMBA_PLAY     0x8d // len = 1
#define ROOMBA_SENSORS  0x8e // len = 1
#define ROOMBA_DOCK     0x8f

/* Sensor bit-shifting */
#define SENSE_DROP_CASTER (4)
#define SENSE_DROP_LEFT   (3)
#define SENSE_DROP_RIGHT  (2)
#define SENSE_BUMP_LEFT   (1)
#define SENSE_BUMP_RIGHT  (0)

struct __attribute__((packed)) sensors_code1 {
    uint8_t bumps_wheeldrop;
    uint8_t wall;
    uint8_t cliff_left;
    uint8_t cliff_front_left;
    uint8_t cliff_front_right;
    uint8_t cliff_right;
    uint8_t virtual_wall;
    uint8_t motor_overcurrents;
    uint8_t dirt_detect_left;
    uint8_t dirt_detect_right;
};

struct __attribute__((packed)) sensors_code2 {
    uint8_t rc_detect;
    uint8_t buttons;
    uint16_t distance;
    uint16_t angle;
};

struct __attribute__((packed)) sensors_code3 {
    uint8_t charging_state;
    uint8_t voltage_lsb;
    uint8_t voltage_msb;
    uint8_t current_lsb;
    uint8_t current_msb;
    uint8_t temperature;
    uint16_t charge_mah;
    uint16_t capacity_mah;
};

struct __attribute__((packed)) roomba_sensors_data {
    int valid;
    uint8_t drop_caster, drop_left, drop_right;
    uint8_t bump_left, bump_right;
    uint8_t wall;
    uint8_t cliff_left, cliff_frontleft, cliff_frontright, cliff_right;
    uint8_t ovc;
};

void roomba_cmd(uint8_t cmd, uint8_t *payload, uint8_t len);


/* Sensors */
struct roomba_sensors_data *roomba_sensors(void);

/* Motors */
void motors_clean_set(int brush, int vac, int side);
void motors_spin(int cw);
void motors_stop(void);
void motors_drive(int16_t speed, int16_t radius);


#endif